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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="classblmc__robots_1_1Quadruped-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">blmc_robots::Quadruped Class Reference</div>  </div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a12bfe07e7cbab3bd4f5e091b830ee266"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a12bfe07e7cbab3bd4f5e091b830ee266">Quadruped</a> ()</td></tr>
<tr class="memdesc:a12bfe07e7cbab3bd4f5e091b830ee266"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classblmc__robots_1_1Quadruped.html">Quadruped</a> is the constructor of the class.  <a href="#a12bfe07e7cbab3bd4f5e091b830ee266">More...</a><br /></td></tr>
<tr class="separator:a12bfe07e7cbab3bd4f5e091b830ee266"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0e4bceb68fe245aa94343f7c41d456b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ad0e4bceb68fe245aa94343f7c41d456b">initialize</a> ()</td></tr>
<tr class="memdesc:ad0e4bceb68fe245aa94343f7c41d456b"><td class="mdescLeft">&#160;</td><td class="mdescRight">initialize the robot by setting aligning the motors and calibrate the sensors to 0  <a href="#ad0e4bceb68fe245aa94343f7c41d456b">More...</a><br /></td></tr>
<tr class="separator:ad0e4bceb68fe245aa94343f7c41d456b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac4da7f38cea8e7e16f70375ca151e638"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac4da7f38cea8e7e16f70375ca151e638"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ac4da7f38cea8e7e16f70375ca151e638">send_target_motor_current</a> (const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt; target_motor_current)</td></tr>
<tr class="memdesc:ac4da7f38cea8e7e16f70375ca151e638"><td class="mdescLeft">&#160;</td><td class="mdescRight">send_target_torques sends the target currents to the motors <br /></td></tr>
<tr class="separator:ac4da7f38cea8e7e16f70375ca151e638"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae309b6b40fd711ab01e3bbb63406d6e5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae309b6b40fd711ab01e3bbb63406d6e5"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ae309b6b40fd711ab01e3bbb63406d6e5">send_target_joint_torque</a> (const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt; target_joint_torque)</td></tr>
<tr class="memdesc:ae309b6b40fd711ab01e3bbb63406d6e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">send_target_torques sends the target currents to the motors <br /></td></tr>
<tr class="separator:ae309b6b40fd711ab01e3bbb63406d6e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae0c15c6e709c1c1cdcbb38b1c4a4da94"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ae0c15c6e709c1c1cdcbb38b1c4a4da94">acquire_sensors</a> ()</td></tr>
<tr class="memdesc:ae0c15c6e709c1c1cdcbb38b1c4a4da94"><td class="mdescLeft">&#160;</td><td class="mdescRight">acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any getter to have up to date data.  <a href="#ae0c15c6e709c1c1cdcbb38b1c4a4da94">More...</a><br /></td></tr>
<tr class="separator:ae0c15c6e709c1c1cdcbb38b1c4a4da94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0969d12e73dc5d55c4b6a3d45a14c11"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ad0969d12e73dc5d55c4b6a3d45a14c11">set_hardstop2zero_offsets</a> (const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt; hardstop2zero_offsets)</td></tr>
<tr class="memdesc:ad0969d12e73dc5d55c4b6a3d45a14c11"><td class="mdescLeft">&#160;</td><td class="mdescRight">set_hardstop2zero_offsets  <a href="#ad0969d12e73dc5d55c4b6a3d45a14c11">More...</a><br /></td></tr>
<tr class="separator:ad0969d12e73dc5d55c4b6a3d45a14c11"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab14b5aab489ac5f64a90ae718bffedbc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ab14b5aab489ac5f64a90ae718bffedbc">set_start2hardstop_offsets</a> (const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt; start2hardstop_offsets)</td></tr>
<tr class="memdesc:ab14b5aab489ac5f64a90ae718bffedbc"><td class="mdescLeft">&#160;</td><td class="mdescRight">set_start2hardstop_offsets  <a href="#ab14b5aab489ac5f64a90ae718bffedbc">More...</a><br /></td></tr>
<tr class="separator:ab14b5aab489ac5f64a90ae718bffedbc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a39477f7381b59b19ba63b1d5ba7c1d71"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a39477f7381b59b19ba63b1d5ba7c1d71">get_motor_positions</a> ()</td></tr>
<tr class="memdesc:a39477f7381b59b19ba63b1d5ba7c1d71"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_positions  <a href="#a39477f7381b59b19ba63b1d5ba7c1d71">More...</a><br /></td></tr>
<tr class="separator:a39477f7381b59b19ba63b1d5ba7c1d71"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade6e836a7ed912bd08b019dc8cd050e6"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ade6e836a7ed912bd08b019dc8cd050e6">get_motor_velocities</a> ()</td></tr>
<tr class="memdesc:ade6e836a7ed912bd08b019dc8cd050e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_velocities  <a href="#ade6e836a7ed912bd08b019dc8cd050e6">More...</a><br /></td></tr>
<tr class="separator:ade6e836a7ed912bd08b019dc8cd050e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2356ceb799877558987b632b4342e4b5"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a2356ceb799877558987b632b4342e4b5">get_motor_currents</a> ()</td></tr>
<tr class="memdesc:a2356ceb799877558987b632b4342e4b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_currents  <a href="#a2356ceb799877558987b632b4342e4b5">More...</a><br /></td></tr>
<tr class="separator:a2356ceb799877558987b632b4342e4b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0fde31ca54bad99b67cc65b9bb3dc1dc"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a0fde31ca54bad99b67cc65b9bb3dc1dc">get_motor_target_currents</a> ()</td></tr>
<tr class="memdesc:a0fde31ca54bad99b67cc65b9bb3dc1dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_target_currents  <a href="#a0fde31ca54bad99b67cc65b9bb3dc1dc">More...</a><br /></td></tr>
<tr class="separator:a0fde31ca54bad99b67cc65b9bb3dc1dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a327733904857742f04c88144800d44e1"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a327733904857742f04c88144800d44e1">get_motor_torques</a> ()</td></tr>
<tr class="memdesc:a327733904857742f04c88144800d44e1"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_torques  <a href="#a327733904857742f04c88144800d44e1">More...</a><br /></td></tr>
<tr class="separator:a327733904857742f04c88144800d44e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a34706f7bfcd886f7551560707903ea69"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a34706f7bfcd886f7551560707903ea69">get_target_motor_torques</a> ()</td></tr>
<tr class="memdesc:a34706f7bfcd886f7551560707903ea69"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_target_motor_torques  <a href="#a34706f7bfcd886f7551560707903ea69">More...</a><br /></td></tr>
<tr class="separator:a34706f7bfcd886f7551560707903ea69"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac55b9000a47e628f9567ad4dd9bb9177"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ac55b9000a47e628f9567ad4dd9bb9177">get_motor_inertias</a> ()</td></tr>
<tr class="memdesc:ac55b9000a47e628f9567ad4dd9bb9177"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_inertias  <a href="#ac55b9000a47e628f9567ad4dd9bb9177">More...</a><br /></td></tr>
<tr class="separator:ac55b9000a47e628f9567ad4dd9bb9177"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9e5055b55a1b174f1e9f44910e7d244"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ae9e5055b55a1b174f1e9f44910e7d244">get_motor_encoder_indexes</a> ()</td></tr>
<tr class="memdesc:ae9e5055b55a1b174f1e9f44910e7d244"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_encoder_indexes  <a href="#ae9e5055b55a1b174f1e9f44910e7d244">More...</a><br /></td></tr>
<tr class="separator:ae9e5055b55a1b174f1e9f44910e7d244"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8aeca596057aef7d7f41634054d8b5d3"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a8aeca596057aef7d7f41634054d8b5d3">get_motor_torque_constants</a> ()</td></tr>
<tr class="memdesc:a8aeca596057aef7d7f41634054d8b5d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_torque_constants  <a href="#a8aeca596057aef7d7f41634054d8b5d3">More...</a><br /></td></tr>
<tr class="separator:a8aeca596057aef7d7f41634054d8b5d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa94321ce669380bcec1f92534333a0f4"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#aa94321ce669380bcec1f92534333a0f4">get_joint_positions</a> ()</td></tr>
<tr class="memdesc:aa94321ce669380bcec1f92534333a0f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_positions  <a href="#aa94321ce669380bcec1f92534333a0f4">More...</a><br /></td></tr>
<tr class="separator:aa94321ce669380bcec1f92534333a0f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e001a738d9966f71c5493e32b702e51"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a8e001a738d9966f71c5493e32b702e51">get_joint_velocities</a> ()</td></tr>
<tr class="memdesc:a8e001a738d9966f71c5493e32b702e51"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_velocities  <a href="#a8e001a738d9966f71c5493e32b702e51">More...</a><br /></td></tr>
<tr class="separator:a8e001a738d9966f71c5493e32b702e51"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a369021bdc680c5e077d18e45a7881adc"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a369021bdc680c5e077d18e45a7881adc">get_joint_torques</a> ()</td></tr>
<tr class="memdesc:a369021bdc680c5e077d18e45a7881adc"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_torques  <a href="#a369021bdc680c5e077d18e45a7881adc">More...</a><br /></td></tr>
<tr class="separator:a369021bdc680c5e077d18e45a7881adc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc71f44c306c8647a2c68aeb2d2f6173"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#afc71f44c306c8647a2c68aeb2d2f6173">get_joint_target_torques</a> ()</td></tr>
<tr class="memdesc:afc71f44c306c8647a2c68aeb2d2f6173"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_torques  <a href="#afc71f44c306c8647a2c68aeb2d2f6173">More...</a><br /></td></tr>
<tr class="separator:afc71f44c306c8647a2c68aeb2d2f6173"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a35e0b40ba09d2fc5358268cbd219a50c"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a35e0b40ba09d2fc5358268cbd219a50c">get_joint_gear_ratios</a> ()</td></tr>
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<tr class="memitem:a66056ff38ae444eda25c927918db3bae"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a66056ff38ae444eda25c927918db3bae">get_hardstop2zero_offsets</a> ()</td></tr>
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<tr class="memitem:ad7defcbb5948eb5314310df01b57a604"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ad7defcbb5948eb5314310df01b57a604">get_start2hardstop_offsets_</a> ()</td></tr>
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<tr class="memitem:a5925b23ca79faeead3cfdd46ead11bc1"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a5925b23ca79faeead3cfdd46ead11bc1">get_slider_positions</a> ()</td></tr>
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<tr class="memitem:ad60c4b223ab5d257043567784c0382ca"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ad60c4b223ab5d257043567784c0382ca">get_contact_sensors_states</a> ()</td></tr>
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<tr class="memitem:a6027cb2d0b69c6efb181abf7aa1edc86"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a6027cb2d0b69c6efb181abf7aa1edc86">get_max_current</a> ()</td></tr>
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<tr class="memitem:af93a50ed874a5c7c26021d279da93785"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#af93a50ed874a5c7c26021d279da93785">get_max_joint_torque</a> ()</td></tr>
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<tr class="memitem:a670516a78d7677f9f9f0b443b1cf7a61"><td class="memItemLeft" align="right" valign="top">const std::array&lt; bool, 8 &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a670516a78d7677f9f9f0b443b1cf7a61">get_motor_enabled</a> ()</td></tr>
<tr class="memdesc:a670516a78d7677f9f9f0b443b1cf7a61"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_enabled  <a href="#a670516a78d7677f9f9f0b443b1cf7a61">More...</a><br /></td></tr>
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<tr class="memitem:aea65e9f10e3299d2bcf9d48fe2af9e32"><td class="memItemLeft" align="right" valign="top">const std::array&lt; bool, 8 &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#aea65e9f10e3299d2bcf9d48fe2af9e32">get_motor_ready</a> ()</td></tr>
<tr class="memdesc:aea65e9f10e3299d2bcf9d48fe2af9e32"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_ready  <a href="#aea65e9f10e3299d2bcf9d48fe2af9e32">More...</a><br /></td></tr>
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<tr class="memitem:a514ac7efdad51897d1f6d61dd6ca08af"><td class="memItemLeft" align="right" valign="top">const std::array&lt; bool, 4 &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a514ac7efdad51897d1f6d61dd6ca08af">get_motor_board_enabled</a> ()</td></tr>
<tr class="memdesc:a514ac7efdad51897d1f6d61dd6ca08af"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_board_enabled  <a href="#a514ac7efdad51897d1f6d61dd6ca08af">More...</a><br /></td></tr>
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<tr class="memitem:ad778669df9463635cdd5e61b005ac73c"><td class="memItemLeft" align="right" valign="top">const std::array&lt; int, 4 &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#ad778669df9463635cdd5e61b005ac73c">get_motor_board_errors</a> ()</td></tr>
<tr class="memdesc:ad778669df9463635cdd5e61b005ac73c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_board_errors  <a href="#ad778669df9463635cdd5e61b005ac73c">More...</a><br /></td></tr>
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<tr class="memitem:a81ac8fec012fc1b31066031e299ecbad"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html#a81ac8fec012fc1b31066031e299ecbad">set_max_current</a> (const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> &gt; max_current)</td></tr>
<tr class="memdesc:a81ac8fec012fc1b31066031e299ecbad"><td class="mdescLeft">&#160;</td><td class="mdescRight">set_max_current sets the maximum current that the motor can to apply.  <a href="#a81ac8fec012fc1b31066031e299ecbad">More...</a><br /></td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<p><a class="el" href="classblmc__robots_1_1Quadruped.html">Quadruped</a> is the constructor of the class. </p>
<p>Motor data</p>
<p>Joint data</p>
<p>Additional data</p>
<p>Setup some known data</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<p>acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any getter to have up to date data. </p>
<p>Motor data</p>
<p>Joint data</p>
<p>Additional data</p>
<p>The different status.</p>

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<p>get_contact_sensors_states </p>
<dl class="section return"><dt>Returns</dt><dd>the state of the contacts states prior to any getter to have up to date data. </dd></dl>

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<p>get_hardstop2zero_offsets </p>
<dl class="section return"><dt>Returns</dt><dd>the position where the robot should be in "zero" configuration </dd></dl>

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<p>get_joint_gear_ratios </p>
<dl class="section return"><dt>Returns</dt><dd>the joint gear ratios </dd></dl>

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<p>get_joint_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the joint angle of each module prior to any getter to have up to date data. </dd></dl>

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<p>get_joint_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the target joint torques </dd></dl>

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<p>get_joint_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the joint torques prior to any getter to have up to date data. </dd></dl>

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<p>get_joint_velocities </p>
<dl class="section return"><dt>Returns</dt><dd>the joint velocities prior to any getter to have up to date data. </dd></dl>

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<p>get_max_current </p>
<dl class="section return"><dt>Returns</dt><dd>the max current that has been hardcoded in the constructor of this class. TODO: parametrize this via yaml or something else. </dd></dl>

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<p>get_max_torque </p>
<dl class="section return"><dt>Returns</dt><dd>the max torque that has been hardcoded in the constructor of this class. TODO: parametrize this via yaml or something else. </dd></dl>

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<p>get_motor_board_enabled </p>
<dl class="section return"><dt>Returns</dt><dd>This gives the status (enabled/disabled of the onboard control cards) </dd></dl>

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<p>get_motor_board_errors </p>
<dl class="section return"><dt>Returns</dt><dd>This gives the status (enabled/disabled of the onboard control cards) </dd></dl>

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<p>get_motor_currents </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors currents in (Ampere: A). WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_motor_enabled </p>
<dl class="section return"><dt>Returns</dt><dd>This gives the status (enabled/disabled) of each motors using the joint ordering convention. </dd></dl>

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<p>get_motor_encoder_indexes </p>
<dl class="section return"><dt>Returns</dt><dd>the position of the index of the encoders a the motor level WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_motor_inertias </p>
<dl class="section return"><dt>Returns</dt><dd>the motor inertias </dd></dl>

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<p>get_motor_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors positions (rad). WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_motor_ready </p>
<dl class="section return"><dt>Returns</dt><dd>This gives the status (enabled/disabled) of each motors using the joint ordering convention. </dd></dl>

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<p>get_motor_target_currents </p>
<dl class="section return"><dt>Returns</dt><dd>the target current motors currents in (Ampere: A). </dd></dl>

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<p>get_motor_torque_constants </p>
<dl class="section return"><dt>Returns</dt><dd>the torque constants of each motor </dd></dl>

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<p>get_motor_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the motor torques in Nm WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_motor_velocities </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors velocities (rad/s). WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_slider_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the current sliders positions. prior to any getter to have up to date data. </dd></dl>

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<p>get_start2hardstop_offsets_ </p>
<dl class="section return"><dt>Returns</dt><dd>the position where the robot should be in "zero" configuration </dd></dl>

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<p>get_target_motor_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the target motor torques in Nm </dd></dl>

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<p>initialize the robot by setting aligning the motors and calibrate the sensors to 0 </p>
<p>Mapping between the can and the motor FL_HFE - motor 0 - can 3 - port 1 FL_KFE - motor 1 - can 3 - port 0 FR_HFE - motor 2 - can 0 - port 1 FR_KFE - motor 3 - can 0 - port 0 HL_HFE - motor 4 - can 2 - port 1 HL_KFE - motor 5 - can 2 - port 0 HR_HFE - motor 6 - can 1 - port 1 HR_KFE - motor 7 - can 1 - port 0</p>

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<p>set_hardstop2zero_offsets </p>

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<p>set_max_current sets the maximum current that the motor can to apply. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<p>set_start2hardstop_offsets </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/workspace/software/workspace/src/catkin/robots/blmc_robots/include/blmc_robots/<a class="el" href="quadruped_8hpp_source.html">quadruped.hpp</a></li>
<li>/workspace/software/workspace/src/catkin/robots/blmc_robots/src/quadruped.cpp</li>
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